This report contains a theoretical model for describing the motion of a passenger car. The simulation program based on this model is used in conjunction with an advanced driving simulator and run in real time. The mathematical model is complete in the sense that the dynamics of the engine, transmission and steering system is described in some detail. Tire forces are given by tabular data. Steering and suspension compliances are lumped together with the tire forces to give effective cornering characteristics. Wheel rotational equations are integrated and the associated difficulties discussed. Rolling resistance and aerodynamic forces are included to some extent. The model is validated during transient manoeuvers and the results correspond well with field test data. (Author)